CN104802708A - Driving image auxiliary system - Google Patents
Driving image auxiliary system Download PDFInfo
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- CN104802708A CN104802708A CN201410033340.4A CN201410033340A CN104802708A CN 104802708 A CN104802708 A CN 104802708A CN 201410033340 A CN201410033340 A CN 201410033340A CN 104802708 A CN104802708 A CN 104802708A
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Abstract
The invention provides a driving image auxiliary system. The driving image auxiliary system comprises a plane image acquisition unit, a three-dimensional image building unit, a control unit and a display unit, wherein the control unit is connected to the plane image acquisition unit and the three-dimensional image building unit, and is used for producing driving auxiliary information according to a plane image cut by the plane image acquisition unit and a three-dimensional image built by the three-dimensional image building unit, and the display unit is connected to the control unit and is used for displaying an image auxiliary screen corresponding to the driving auxiliary information.
Description
Technical field
The present invention relates to the field of image accessory system, especially about a kind of travelling image ancillary system.
Background technology
Vehicle is one of modern's optimal selection of riding instead of walk; and upon arrival at a destination; people just need parked vehicle; in general; the degree of difficulty of reversing can advance far above driving, therefore when moveing backward warehouse-in or curb parking, and the accident that usually can collide; and more and more paying attention to driving convenience and safety along with people, existing existing more and more people can arrange reverse radar system or reverse image system on vehicle.
Wherein, reverse radar system can in the radar being arranged on rear view of vehicle near other object time send caution sound, reverse image system is then show image taken by the pick-up lens being arranged at rear view of vehicle by the telltale be provided in vehicle, and the caution sound that steerman just can send according to reverse radar system and the image shown by telltale are moveed backward.
But, the radar of current reverse radar system has dead detecting angle, and the pick-up lens of reverse image system also to have inborn restriction as follows: (1), in the place of ambient light deficiency, camera cannot imaging normally, causes the picture of telltale to seem as dark as a stack of black cats; (2) in the place of low contrast environment, as snowfield scene, obstacle and level land, all by snow and ice cover, cause the picture of telltale to seem that a slice is snow-white; (3) plane (two dimension) image that telltale presents cannot show the distance of obstacle, causes steerman to be judged by accident, and the electric pole as very near iron wire and a distant place seems very close from telltale, is not easy to differentiate.
From the above description, even if vehicle is configured with reverse radar system and reverse image system, it is unexpected still easily to there is driving in steerman when moveing backward.So the Apparatus and system of existing auxiliary steerman reversing also has the space of improvement.
Summary of the invention
Main purpose of the present invention is providing a kind of travelling image ancillary system, particularly a kind of can in conjunction with the travelling image ancillary system of flat image and 3-dimensional image.
In a preferred embodiment, the invention provides a kind of travelling image ancillary system, comprising:
One flat image acquisition unit, in order to obtain a flat image of a scene;
One 3-dimensional image builds unit, in order to build a 3-dimensional image of at least one object in this scene;
One control unit, is connected to this flat image acquisition unit and this 3-dimensional image builds unit, in order to produce a driving supplementary according at least one in this flat image and this 3-dimensional image; And
One display unit, is connected to this control unit, and in order to receive this driving supplementary, and display corresponds to an Image-aided picture of this driving supplementary.
The flat image of scene of the present invention by allowing flat image acquisition unit capture rear view of vehicle, and make 3-dimensional image build the scene of unit to rear view of vehicle to scan, to build the 3-dimensional image of the scene of rear view of vehicle.The person of connecing, the flat image that control unit obtains according to flat image acquisition unit and 3-dimensional image build 3-dimensional image that unit builds and produce a driving supplementary, and transferred to display unit, display unit can be shown watch for the steerman of vehicle relative to the Image-aided picture of driving supplementary, and then the steerman of assisting vehicle is moveed backward.Even if low at scene resolution like this, when even as dark as a stack of black cats, control unit also can drive 3-dimensional image to build unit to carry out panoramic scanning to scene, and then build according to 3-dimensional image the panorama 3-dimensional image that unit builds and produce driving supplementary for display unit display, and then the steerman of assisting vehicle is moveed backward.Meanwhile, all stacked itself and 3-dimensional image can build the color of the distance of unit by each surface of each object, make steerman can with reference to the color in Image-aided picture to carry out backing distance judgement.
Accompanying drawing explanation
Fig. 1: for travelling image ancillary system of the present invention is in the system block diagrams of one first preferred embodiment.
Fig. 2: be the lateral plan of the vehicle of travelling image ancillary system shown in application drawing 1.
Fig. 3: be the back view of the vehicle of travelling image ancillary system shown in application drawing 1.
Fig. 4: be the rear scene of the vehicle for being parked in hatched example areas when moveing backward.
Fig. 5: the flat image be truncated to for flat image acquisition unit.
Fig. 6: for 3-dimensional image builds the panorama 3-dimensional image that unit builds.
Fig. 7: be the schematic diagram of the Image-aided picture shown in one first better embodiment of the display unit of image accessory system shown in Fig. 1.
Fig. 8: be the schematic diagram of the Image-aided picture shown in one second better embodiment of the display unit of image accessory system shown in Fig. 1.
Fig. 9: be the schematic diagram of the Image-aided picture shown in one the 3rd better embodiment of the display unit of image accessory system shown in Fig. 1.
Figure 10: be the schematic diagram of the clicked rear shown Image-aided picture of display unit shown in Fig. 9.
Figure 11: for travelling image ancillary system of the present invention is in the system block diagrams of one second preferred embodiment.
Wherein, description of reference numerals is as follows:
1A travelling image ancillary system 1B travelling image ancillary system
2 vehicle 3 scenes
4 flat image 5 3-dimensional images
11 flat image acquisition unit 12 3-dimensional images build unit
13 control unit 14 display units
15 scene judging unit 31 vehicles
32 children 33 light poles
51 3-dimensional image 141 Image-aided pictures
142 Image-aided picture 143 Image-aided pictures
331 pole socket A dashed region
M dotted line block S1 drives a vehicle supplementary
S2 drives a vehicle supplementary
Detailed description of the invention
Refer to Fig. 1 ~ Fig. 3, Fig. 1 is the system block diagrams of travelling image ancillary system of the present invention in one first preferred embodiment, Fig. 2 is the lateral plan of the vehicle of travelling image ancillary system shown in application drawing 1, and Fig. 3 is the back view of the vehicle of travelling image ancillary system shown in application drawing 1.Travelling image ancillary system 1A comprises flat image acquisition unit 11,3-dimensional image builds unit 12, control unit 13 and display unit 14.And control unit 13 is connected to flat image acquisition unit 11,3-dimensional image builds unit 12 and display unit 14.
Wherein, display unit 14 is installed in vehicle 2, and flat image acquisition unit 11 and 3-dimensional image build the rear that unit 12 is arranged at vehicle 2, object is to allow the flat image of scene at flat image acquisition unit 11 fechtable vehicle 2 rear, and make 3-dimensional image build unit 12 can to scan the scene at vehicle 2 rear, to build the 3-dimensional image of the scene at vehicle 2 rear.Then, the flat image that control unit 13 can obtain according to flat image acquisition unit 11 and 3-dimensional image build 3-dimensional image that unit 12 builds and produce a driving supplementary S1, and transferred to display unit 14, display unit 14 can be shown watch for the steerman of vehicle 2 relative to the Image-aided picture of driving supplementary S1, and then the steerman of assisting vehicle 2 is moveed backward.
Special version, the purposes that 3-dimensional image builds unit 12 is the some cloud (point cloud) of the arbitrary object geometric jacquard patterning unit surface set up in scene, and becomes the surface configuration of arbitrary object by these cloud interpolations; Wherein, 3-dimensional image scanning technique can be modeled as flat image acquisition technology, the range of visibility of the two be all present coniform, and the two difference is that flat image acquisition technology can obtain is colouring information, 3-dimensional image scanning technique is then to obtain the distance that 3-dimensional image builds unit 12 and the surface of arbitrary object in scene; Current 3-dimensional image scanning technique includes laser scanner technique, infrared trace technology and ultrasound scanning technology etc., all knows known to this skill personage, is just no longer repeated at this.
In addition, in this preferred embodiment, display unit 14 is a touch control type LCD screen, and flat image acquisition unit 11 and 3-dimensional image build unit 12 in upper and lower Rankine-Hugoniot relations, and be roughly positioned at the centre at vehicle 2 rear, but above are only an embodiment, not as limit, knowing this skill personage can carry out any equivalent design for change according to practical application request.
Next for a scene, travelling image ancillary system 1A of the present invention is described.Refer to Fig. 4 ~ Fig. 6, Fig. 4 illustrates the rear scene 3 of vehicle 2 when moveing backward that will be parked in dashed region A, and the object (obstacle) in scene 3 include be positioned at dashed region A rear another vehicle 31, children 32 and light pole 33; Fig. 5 illustrates the flat image 4 that flat image acquisition unit 11 pairs of scenes 3 are truncated to, and includes the colouring information (not indicating in figure) of arbitrary object in flat image 4; And Fig. 6 illustrates 3-dimensional image and builds unit 12 build the distance of each object 31 ~ 33 in unit 12 and scene 3 and the panorama 3-dimensional image 5 that builds because obtaining 3-dimensional image in the process scanned scene 3.
Refer to Fig. 7, the schematic diagram of the Image-aided picture that its display unit being image accessory system shown in Fig. 1 is shown in one first better embodiment, Fig. 7 illustrates the Image-aided picture 141 that display unit 14 display corresponds to driving supplementary S1, and driving supplementary S1 produced according to 3-dimensional image 5 shown in flat image 4 shown in Fig. 5 and Fig. 6 by control unit 13; Wherein, the content shown by Image-aided picture 141 is, represents the color that itself and 3-dimensional image build the distance of unit 12 on each surface of each object 31 ~ 33 of flat image 4 is stacked respectively.
Special version be, in order to more clearly demonstrate Fig. 7, in Fig. 7, only there is layered colors (slanted bar line part, vertical bar line part and horizontal band part) at three places, but under normal circumstances, each surface of each object all stacked itself and 3-dimensional image can build the color of the distance of unit 12.In the present embodiment, slanted bar line part in Fig. 7, vertical bar line part and horizontal band part represent redness, green and blue respectively, and the distance value that redness, green and blueness represent respectively is 600cm, 500cm and 400cm, thus, steerman just can be moveed backward with reference to the color in Image-aided picture 141.
Better one, but not as limit, when the 3-dimensional image being arranged on vehicle 2 rear builds unit 12 because vehicle 2 carries out moveing backward with when the distance of arbitrary object is less than a predetermined value in scene 3, the color be layered in Image-aided picture 141 on this object then can start flicker, thus, its vehicle 2 driven of steerman can be warned and approach this object gradually, by this with the generation of collision free.Certainly, the mode that warning steerman vehicle 2 is too near to object is not limited with above-mentioned, know this skill personage and can carry out any equivalent design for change according to practical application request, for example, change and be designed to, travelling image ancillary system 1A reminds steerman in the mode of sound or speech play.
Refer to Fig. 8, the schematic diagram of the Image-aided picture that its display unit being image accessory system shown in Fig. 1 is shown in one second better embodiment, Fig. 8 illustrates the Image-aided picture 142 that display unit 14 display corresponds to driving supplementary S1, and driving supplementary S1 produced according to 3-dimensional image 5 shown in flat image 4 shown in Fig. 5 and Fig. 6 by control unit 13; Wherein, the content shown by Image-aided picture 142 is, represents the mark that itself and 3-dimensional image build the distance of unit 12 on each surface of each object 31 ~ 33 of flat image 4 is stacked respectively.
Special version, in order to more clearly demonstrate Fig. 8, in Fig. 8, only there is stacked mark at three places, but under normal circumstances, and each surface of each object all stacked itself and 3-dimensional image can build the mark of the distance of unit 12.In the present embodiment, three distance distance poles are respectively 600cm, 500cm and 400cm, and thus, steerman just can be moveed backward with reference to the mark in Image-aided picture 142.
Preferably, but not as limit, when the 3-dimensional image being arranged on vehicle 2 rear builds unit 12 because vehicle 2 carries out moveing backward with when the distance of arbitrary object is less than a predetermined value in scene 3, the distance pole be layered in Image-aided picture 142 on this object then can start flicker, thus, its vehicle 2 driven of steerman can be warned and approach this object gradually, by this with the generation of collision free.Certainly, the mode that warning steerman vehicle 2 is too near to object is not limited with above-mentioned, know this skill personage and can carry out any equivalent design for change according to practical application request, for example, change and be designed to, travelling image ancillary system 1A reminds steerman in the mode of sound or speech play.
Refer to Fig. 9 and Figure 10, the schematic diagram of the Image-aided picture that the display unit that Fig. 9 is image accessory system shown in Fig. 1 is shown in one the 3rd better embodiment, Figure 10 is the schematic diagram of the clicked rear shown Image-aided picture of display unit shown in Fig. 9.Fig. 9 illustrates the Image-aided picture 143 that display unit 14 display corresponds to the flat image 4 shown in Fig. 5; Wherein, after the block in the Image-aided picture 143 shown by display unit 14 is clicked by steerman, display unit 14 can transfer to amplify the 3-dimensional image 5 that display corresponds to the object in this block.
In detail, in the present embodiment, after the dotted line block M on the picture of Image-aided shown in Fig. 9 143 is clicked, Image-aided picture 143 shown by display unit 14 is just converted to the corresponding pole socket 331 of light pole 33 on this dotted line block M and the 3-dimensional image of neighbouring part thereof, and it as shown in Figure 10; More preferably, but not as limit, represent color or mark that itself and 3-dimensional image build the distance of unit 12 on the pole socket 331 of light pole 33 and the different surfaces of neighbouring part thereof are stacked all respectively, and in order to more clearly demonstrate Figure 10, the color or the mark that represent distance are not drawn; In addition, about the explanation of color and mark, it is roughly similar to previously described in first and second better embodiment, is just no longer repeated at this.
Certainly, above are only an embodiment, know this skill personage and can carry out any equivalent design for change according to practical application request, for example, change and be designed to, after the particular block in the Image-aided picture 143 shown by display unit 14 is clicked by steerman, 3-dimensional image builds unit 12 can increase scanning speed to this particular block, as dotted line block M shown in for Fig. 9, then can increase the scanning speed of pole socket 331 to light pole 33 and neighbouring part thereof, to accelerate to obtain the distance value that the pole socket 331 of lamp stand and each surface of neighbouring part and 3-dimensional image thereof build unit 12.Again for example, change and be designed to, after the particular block in the Image-aided picture 143 shown by display unit 14 is clicked by steerman, 3-dimensional image builds unit 12 can promote scanning resolution to the object in this particular block, as dotted line block M shown in for Fig. 9, then can promote the scanning resolution of pole socket 331 to light pole 33 and neighbouring part thereof, to make obtained distance value more accurate.
Refer to Figure 11, it is the system block diagrams of travelling image ancillary system of the present invention in one second preferred embodiment; Wherein, the travelling image ancillary system 1B of this preferred embodiment is roughly similar to described in the present invention first preferred embodiment, is just no longer repeated at this.This preferred embodiment and aforementioned first preferred embodiment difference are, travelling image ancillary system 1B more comprises a scene judging unit 15, it is connected between flat image acquisition unit 11 and control unit 13, in order to judge the scene Recognition degree of scene 3 in the flat image 4 that intercepts from flat image acquisition unit 11; In this preferred embodiment, scene judging unit 15 is the scene Recognition degree judging scene 3 according to the image spectral analysis to flat image 4, image contrast analysis or image brilliance analysis, but is not limited with above-mentioned analysis mode.
Moreover, when scene judging unit 15 judge the scene Recognition degree of scene 3 be low scene Recognition spend time, control unit 13 can drive 3-dimensional image to build unit 12 pairs of scenes 3 and scan, or the certain objects driving 3-dimensional image to build in unit 12 pairs of scenes 3 strengthens scanning, foundation 3-dimensional image builds the 3-dimensional image generation driving supplementary S2 that unit 12 builds again, and then corresponds to the Image-aided picture of the supplementary S1 that drives a vehicle for display unit 14 display; That is, when the scene Recognition degree of scene 3 be low scene Recognition spend time, the content of the Image-aided picture shown by display unit 14 is the 3-dimensional image of certain objects in the panorama 3-dimensional image of scene 3 or scene 3.
Below further illustrate several application situations of this preferred embodiment.Example one, rear scene when vehicle 2 is moveed backward as shown in Figure 4, but flat image 4 that is too low because of ambient brightness or that be less than a default value and flat image acquisition unit 11 is intercepted is dim not clear, or even the content causing display unit 14 to show is when being as dark as a stack of black cats, scene judging unit 15 can judge that the scene Recognition degree of scene 3 belongs to low scene Recognition degree, therefore control unit 13 can drive 3-dimensional image to build unit 12 pairs of scenes 3 to carry out panoramic scanning, and then build according to 3-dimensional image panorama 3-dimensional image 5 that unit 12 builds and produce driving supplementary S2 and show for display unit 14, thus, the steerman of vehicle 2 just has the reference frame of reversing.
Example two, rear scene when vehicle 2 is moveed backward as shown in Figure 4, but make because being covered by heavy snow flat image acquisition unit 11 the flat image 4 that intercepts when being snow scenes of a slice white, because the image contrast of flat image 4 is too low, scene judging unit 15 can judge that the scene Recognition degree of scene 3 belongs to low scene Recognition degree, therefore control unit 13 can drive 3-dimensional image to build unit 12 pairs of scenes 3 to carry out panoramic scanning, and then build according to 3-dimensional image panorama 3-dimensional image 5 that unit 12 builds and produce driving supplementary S2 and show for display unit 14, thus, the steerman of vehicle 2 just has the reference frame of reversing.
Example three, when the children 32 of rear scene when vehicle 2 is moveed backward as shown in Figure 4 and in scene 3 run, scene judging unit 15 can identify in scene 3 according to image spectral analysis has dynamic object, and then judge that the scene Recognition degree of scene 3 belongs to low scene Recognition degree, therefore control unit 13 scanning that 3-dimensional image can be driven to build unit 12 strengthen children 32, if lifting is to the scanning speed of children 32 or scanning resolution, then the 3-dimensional image that control unit 13 builds children 32 that unit 12 builds and adjacent place thereof according to 3-dimensional image again produces driving supplementary S2, show for display unit 14, thus, the steerman of vehicle 2 just has the reference frame of reversing.
More preferably, but not as limit, in this preferred embodiment, each object (obstacle) in Image-aided picture shown by display unit 14 all can stacked respectively on represent color or the mark that itself and 3-dimensional image build the distance of unit 12, and about the explanation of color and mark, it is roughly similar to described in previous first preferred embodiment, is just no longer repeated at this.
The foregoing is only preferred embodiment of the present invention, and be not used to limit claim of the present invention, under therefore all other does not depart from disclosed spirit, the equivalence that completes changes or modifies, and all should be included in claim of the present invention.
Claims (16)
1. a travelling image ancillary system, comprising:
One flat image acquisition unit, in order to obtain a flat image of a scene;
One 3-dimensional image builds unit, in order to build a 3-dimensional image of at least one object in this scene;
One control unit, is connected to this flat image acquisition unit and this 3-dimensional image builds unit, in order to produce a driving supplementary according at least one in this flat image and this 3-dimensional image; And
One display unit, is connected to this control unit, and in order to receive this driving supplementary, and display corresponds to an Image-aided picture of this driving supplementary.
2. travelling image ancillary system as claimed in claim 1, is characterized in that: more comprise a scene judging unit, in order to judge a scene Recognition degree of this scene from this flat image; Wherein, when this scene judging unit judge this scene Recognition degree be a low scene Recognition spend time, this control unit drives this 3-dimensional image to build unit and scans at least one object of this in this scene and obtain this 3-dimensional image.
3. travelling image ancillary system as claimed in claim 2, is characterized in that: this 3-dimensional image of this at least one object is the panorama 3-dimensional image of this scene.
4. travelling image ancillary system as claimed in claim 2, is characterized in that: this scene judging unit judges this scene Recognition degree of this scene according to an image spectral analysis of this flat image or an image contrast analysis.
5. travelling image ancillary system as claimed in claim 2, it is characterized in that: when an ambient brightness of this scene is less than a predetermined value, this scene judging unit judges that this scene Recognition degree is as this low scene Recognition degree.
6. travelling image ancillary system as claimed in claim 2, it is characterized in that: when this scene is a low color contrast scene, this scene judging unit judges that this scene Recognition degree is as this low scene Recognition degree.
7. travelling image ancillary system as claimed in claim 2, it is characterized in that: when this at least one object of this scene comprises a dynamic object, this scene judging unit judges that this scene Recognition degree is as this low scene Recognition degree.
8. travelling image ancillary system as claimed in claim 1, it is characterized in that: this driving supplementary comprises multiple distance values that this at least one object and this 3-dimensional image build unit, and this Image-aided picture is this at least one object position stacked multiple color respectively on this flat image, and the plurality of color represents the plurality of distance value respectively.
9. travelling image ancillary system as claimed in claim 8, is characterized in that: when the arbitrary distance value in the plurality of distance value is less than a predetermined value, this Image-aided picture represents this chromatic flicker display of this arbitrary distance value.
10. travelling image ancillary system as claimed in claim 1, it is characterized in that: this driving supplementary comprises multiple distance values that this at least one object and this 3-dimensional image build unit, and this Image-aided picture is this at least one object position stacked multiple distance mark respectively on this flat image, in order to indicate the plurality of distance value.
11. travelling image ancillary systems as claimed in claim 1, it is characterized in that: this display unit is a touch control display apparatus, and when the picture block corresponding to this at least one object in this Image-aided picture is clicked by a user, this display unit shows this 3-dimensional image of this at least one object.
12. travelling image ancillary systems as claimed in claim 11, it is characterized in that: this driving supplementary comprises at least one distance value that this at least one object and this 3-dimensional image build unit, and this Image-aided picture is be laminated to a few color on this 3-dimensional image of this at least one object, and this at least one color represents this at least one distance value.
13. travelling image ancillary systems as claimed in claim 11, it is characterized in that: this driving supplementary comprises at least one distance value that this at least one object and this 3-dimensional image build unit, and this Image-aided picture is be laminated to a few distance mark on this 3-dimensional image of this at least one object, in order to indicate this at least one distance value.
14. travelling image ancillary systems as claimed in claim 1, it is characterized in that: when the picture block corresponding to this at least one object in this Image-aided picture is chosen by a user, this 3-dimensional image builds unit increases one scan speed to this at least one object, to accelerate to obtain multiple distance values that this at least one object and this 3-dimensional image build unit.
15. travelling image ancillary systems as claimed in claim 1, wherein when the picture block corresponding to this at least one object in this Image-aided picture is chosen by a user, this 3-dimensional image builds the one scan resolution of unit lifting to this at least one object.
16. travelling image ancillary systems as claimed in claim 1, is characterized in that: this 3-dimensional image builds unit and is through a laser scanner technique, an infrared trace technology or a ultrasound scanning technology and scans this at least one object.
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| CN201410033340.4A CN104802708A (en) | 2014-01-23 | 2014-01-23 | Driving image auxiliary system |
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| CN201410033340.4A CN104802708A (en) | 2014-01-23 | 2014-01-23 | Driving image auxiliary system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108583434A (en) * | 2018-04-17 | 2018-09-28 | 北京车和家信息技术有限公司 | Auxiliary driving method, apparatus and system |
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Application publication date: 20150729 |